• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.284-289
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• 1995

This paper presents a haptic display of a cooperative work between the networked multiple users. Excluding the possibility of large timedelay among the users, it is presented the way of configuring individual haptic display systems including the computation of interaction forces, joint driving forces of haptic devices and simulation of the virtual objects. A haptic display system is developed consisting of two haptic display devices operated by two remote users and experimental results to show the validity of the proposed method are also presented.

• International Journal of CAD/CAM
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• 제9권1호
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• pp.93-102
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• 2010

Shaping realistic hairstyles for digital characters is a difficult, long and tedious task. The lack of appropriate interaction metaphors enabling efficient and simple, yet accurate hair modeling further aggravates the situation. This paper presents 3D interaction metaphors for modeling virtual hair using haptic interfaces. We discuss user tasks, ergonomic aspects, as well as haptics-based styling and fine-tuning tools on an experimental prototype. In order to achieve faster haptic rates with respect to the hair simulation and obtain a transparent rendering, we adapt our simulation models to comply with the specific requirements of haptic hairstyling actions and decouple the simulation of the hair strand dynamics from the haptic rendering while relying on the same physiochemical hair constants. Besides the direct use of the discussed interaction metaphors in the 3D modeling area, the presented results have further application potential in hair modeling facilities for the entertainment industry and the cosmetic sciences.

• 로봇학회논문지
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• 제1권2호
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• pp.135-141
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• 2006

This paper presents offline estimation of equivalent physical damping parameter in haptic interaction systems where damping is the most important parameter for stability. Based on the previous energy bounding algorithm, an offline procedure is developed in order to estimate the physical damping parameter of a haptic device by measuring energy flow-in to the haptic device. The proposed method does not use force/torque sensor at the handgrip. Numerical simulation and experiments verified effectiveness of the proposed method.

• Journal of Computing Science and Engineering
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• 제10권1호
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• pp.32-38
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• 2016

Navigating a large 3D virtual environment using a generic haptic device can be challenging since the haptic device is usually bounded by its own physical workspace. On the other hand, mouse interaction easily handles the situation with a clutching mechanism-simply lifting the mouse and repositioning its location in the physical space. Since the haptic device is used for both input and output at the same time, in many cases, its freedom needs to be limited in order to accommodate such a situation. In this paper, we propose a new mechanism called Z-Clutching for 3D navigation of a virtual environment by using only the haptic device without any interruption or sacrifice in the given degrees of freedom of the device's handle. We define the clutching state which is set by pulling the haptic handle back into space. It acts similarly to lifting the mouse off the desk. In this way, the user naturally feels the haptic feedback based on the depth (z-direction), while manipulating the haptic device and moving the view as desired. We conducted a user study to evaluate the proposed interaction technique, and the results are promising in terms of the usefulness of the proposed mechanism.

• 대한인간공학회지
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• 제31권6호
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• pp.715-723
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• 2012

Objective: The aim of this study is to investigate haptic perception related researches into three perspectives: cutaneous & proprioceptive sensations, active & passive touch, and cognition & emotion, then to identify issues for implementing haptic interactions. Background: Although haptic technologies had improved and become practical, more research on the method of application is still needed to actualize the multimodal interaction technology. Systematical approached to explore haptic perception is required to understand emotional experience and social message, as well as tactile feedback. Method: Content analysis were conducted to analyze trend in haptic related research. Changes in issues and topics were investigated using sensational dimensions and the different contents delivered via tactile perception. Result: The found research opportunities were haptic perception in various body segments and emotion related proprioceptive sensation. Conclusion: Once the mechanism of how users perceives haptic stimuli would help to develop effective haptic interactrion and this study provide insights of what to focus for the future of haptic interaction. Application: This research is expected to provide presence, and emotional response applied by haptic perception to fields such as human-robot, human-device, and telecommunication interaction.

• 한국산업정보학회논문지
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• 제17권1호
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• pp.11-20
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• 2012

Due to the development of internet technology, the online business trade becomes an active area. Online negotiation supporting systems have been developing very actively in recent years to meet the growing needs. We have been studying on the effect that the haptic device brings about in interaction through online negotiation between two parties. In order to meet the online negotiation's requirements, the developed interface should be able to protect user's anonymity, convey user's emotion and make the scene alive.In this study, we adopt haptic interaction as a means of conveying emotion in an online negotiation between Japanese and Chinese people. In this study, our goal is to investigate the effectiveness of haptic interaction in communications between Chinese and Japanese users and analyze the characteristis in operation the haptic device. We conducted online negotiation experiments with and without haptic interaction . The comparison experiments results show that the haptic feedback can help to convey the emotion and the sense of presence. The Chinese subjects' feedback for the questionaire concerning the emotional communication and the sense of presence varies slightly compared to the Japanese subjects. We also found when using the haptic device, the force feedback can influence subject's feelings.There is little significant difference between the advanced and the medium subjects in negotiation dialogues and the haptic device's operation, the beginner subjects are slightly at a disadvantage.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.366-371
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• 2008

본 논문에서는 터치스크린이 장착된 윈도우 시스템에서 촉각 피드백을 사용해 윈도우 인터페이스와 상호작용하는 방법 및 체계를 제안한다. 사용자가 터치 스크린을 통해 윈도우 인터페이스와 상호작용할 때 발생하는 주요 이벤트는 윈도우 인터페이스 메시지 필터(Windows Interface Message Filter: WIMF)에 의해 감지되고, 촉각 정보 제공기(Haptic Information Provider: HIP)를 통해 적절한 촉각 정보로 변환되어 본 연구에서 제안한 스타일러스형 햅틱 인터페이스를 통해 사용자에게 촉각 자극을 전달한다. 본 연구에서는 윈도우 환경의 주요한 조작 방법인 버튼 클릭, 메뉴 선택 및 팝업, 창/아이콘 선택 및 끌어놓기(drag & drop), 스크롤에 대하여 촉각 피드백을 구현하였다. 피험자 실험결과 촉각 피드백은 상호작용하는 인터페이스 객체가 선택되었는지에 대한 사용자의 직관을 증대시켰으며, 인터페이스 객체의 위치 및 크기 조절 시 인터페이스의 정교한 조작을 도와 사용성을 증대시켰다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.257-265
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• 2006

다양한 정보기기들의 복합화 형태로 진화하는 차세대 텔레매틱스 시스템에서는 운전자의 안정성 확보와 workload 감소가 중요한 이슈로 대두되어 Interface의 단순화, GUI Interaction의 극복 등의 대한 문제해결이 중요시 되고 있다. 이를 위해 본 연구에서는 사용자의 mental model를 고려한 운전자의 자유로운 navigation을 지원할 eyes-free 기술인 haptic interface를 지원하는 모델 개발을 목표로 기존 haptic interface를 지원하는 기기들의 문제점을 도출하고 차세대 텔레매틱스 시스템의 분석을 통해 기능적 요구사항을 정의하였다. 이를 기반으로 사용자에게 haptic interface를 통한 interaction을 제공함으로써 차세대 텔레매틱스 시스템을 지원하는 conceptual model을 개발하였다. 또한 haptic device design시에 고려되는 평가지표들을 선별하여 평가지표의 계층적 구조도를 작성한 후 AHP평가 모델을 개발하여 haptic device design 시의 중요 고려사항을 도출하고 중요도를 산정하여 초기 design 단계에서의 prototype에 대한 객관적이고 정량적인 평가를 제공하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1594-1599
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• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• 방송과미디어
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• 제11권4호
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• pp.118-131
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• 2006

최근 초고속 인터넷과 디지털미디어의 획기적인 발전으로 전통적인 시청각미디어의 한계를 뛰어넘어 인간의 오감을 자극할 수 있는 실감방송이 차세대 방송기술로 등장하고 있다. 본 논문은 인간의 오감 중 촉각을 중심으로 하여 시청자들이 시청각미디어를 만지고 느낄 수 이는 촉각방송시스템은 전체적으로 촉가미디어의 획득 및 생성하는 단계 다양한 촉각미디어를 한 화면에 편집하고 저작하는 단계, 저작된 콘텐츠를 압축 및 전송하는 단계, 전송된 콘텐츠를 단말장치를 통해 재현하는 단계로 이루어진다. 촉각방송에서 촉각미디어는 시청자가 미디어를 능동적으로 만지고 조작하거나 미디어에서 제공하는 움직임을 따라하거나 촉감을 피부로 느낄 수 있도록 3차원 현상, 조작기능(버튼, 슬라이더, 조이스틱 등), 촉각 표면 특성(딱딱함, 정적 마찰계수, 동적 마찰계수, 거칠기 등), 움직임(위치, 속도, 가속도 등), 촉감 정보 등을 포함한 매체로 정의한다. 제안한 촉각방송 시스템에서는 3차원 객체 만지고 조작하기, 3차원 영상 만지기, 역감 재생, 촉감 재생 등의 네 가지 촉각 상호작용이 가능하며 적용례로써 홈쇼핑, 촉감효과가 가미된 영화, 지휘 교육 시나리오를 제시하였다.